平面二自由度冗余驱动并联机构的最优运动控制及其仿真

Optimal Motion Control and Simulation of Redundantly Actuated 2-dof Planar Parallel Manipulator

以平面二自由度冗余驱动并联机构为研究平台,对机构的高速高精度的最优运动控制进行了研究。首先建立了并联机构的动力学模型,然后以包含有误差和控制量的二次正定函数的性能指标进行最优控制器设计。对单纯点到点控制方式下的最优参数设计问题进行了设计与分析。为了解决点到点运动控制时运动速度较低的问题,采用了插补策略。通过计算机仿真,研究了利用插补点数目进行高速和高精度的轨迹跟踪控制的设计问题,并对比分析了各参数对提高精度和快速响应的影响及其关系。

Based on the redundantly actuated 2-dof planar parallel manipulator, the optimal motion control of such a system performance was studied, Dynamic model of the parallel manipulator was established and optimal controller based on quadratic performance index of system error and control was designed. The problem of optimal parameter design in Point-to-Point motion control was analyzed, In order to solve the problem of the low speed in Point-to-Point motion control, interpolation method was adopted. By computer simulation, the relation of high-speed and high-precision continuous path control with number of the interpolation point was studied and the effects on improving the precision and the speed of response of the parameters were compared and analyzed.